Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 383 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 196 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 350 XPDR_VALID 2

MISSION 14 TGT_DEFAULT_LAT 7100 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

DIVE 383 TGT_DEFAULT_LON -14430 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.75

STOP_T 0 SM_CC 702.78448 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 4

D_FLARE 3 FILEMGR 0 C_VBD 3365 DEVICE1 -1

D_TGT 480 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_ABORT 650 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE3 -1

D_NO_BLEED 50 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_BOOST 100 N_NOCOMM 1 VBD_TIMEOUT 720 DEVICE5 -1

T_BOOST 4 NOCOMM_ACTION 161 PITCH_VBD_SHIFT 0.00069999998 DEVICE6 -1

D_FINISH 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_SURFACE 1 LOGGERS 7

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERDEVICE1 54

D_SAFE 0 CALL_TRIES 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 135

D_CALL 0 CALL_WAIT 60 UNCOM_BLEED 20 LOGGERDEVICE3 83

SURFACE_URGENCY 0 CAPUPLOAD 0 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 0 COMPASS_DEVICE 97

SURFACE_URGENCY_FORCE 0 HEAPDBG 0 DBDW 0 COMPASS2_DEVICE 150

T_DIVE 160 T_GPS 5 LOITER_W_DBAND 0 PHONE_DEVICE 49

T_MISSION 195 N_GPS 100440 LOITER_DBDW 0 GPS_DEVICE 32

T_ABORT 1440 T_RSLEEP 3 LOITER_D_NO_PUMP 0 RAFOS_DEVICE 1125

T_TURN 225 STROBE 0 PITCH_W_GAIN 0 XPDR_DEVICE 24

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 PITCH_W_DBAND 0 SIM_W 0

T_NO_W 120 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 SIM_PITCH 0

T_LOITER 0 RAFOS_HIT_WINDOW 3600 AH0_24V 350 SEABIRD_T_G 0.0043055275

T_EPIRB 0 RAFOS_MMODEM 0 AH0_10V 0 SEABIRD_T_H 0.00061896152

USE_BATHY 0 PITCH_MIN 208 MINV_24V 11 SEABIRD_T_I 2.1649632e-05

USE_ICE 0 PITCH_MAX 3950 MINV_10V 11 SEABIRD_T_J 2.1628491e-06

ICE_FREEZE_MARGIN 0.050000001 C_PITCH 2580 MAXI_24V 0.60000002 SEABIRD_C_G -9.8804169

D_OFFGRID 1000 PITCH_DBAND 0.1 MAXI_10V 1.4 SEABIRD_C_H 1.1388741

T_WATCHDOG 10 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_C_I -0.0017082796

RELAUNCH 1 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_J 0.00021409935

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

MAX_BUOY 150 PITCH_GAIN 38 PRESSURE_YINT -162.29706 SC_PROFILE 3.0

COURSE_BIAS 0 PITCH_TIMEOUT 20 PRESSURE_SLOPE 0.00010687162 SC_XMITPROFILE 3.0

GLIDE_SLOPE 30 PITCH_AD_RATE 160 AD7714Ch0Gain 1 SC_NDIVE 1.0

SPEED_FACTOR 1 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 CP_RECORDABOVE 1000.0

RHO 1.028 PITCH_ADJ_GAIN 0.02 TCM_ROLL_OFFSET 0 CP_PROFILE 3.0

MASS 55566 PITCH_ADJ_DBAND 1 COMPASS_USE 4 CP_XMITPROFILE 0.0

MASS_COMP 0 ROLL_MIN 218 ALTIM_BOTTOM_PING_RANGE 0 CP_UPLOADMAX 100000.0

NAV_MODE 2 ROLL_MAX 3787 ALTIM_TOP_PING_RANGE 0 CP_STARTS 1063.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 CP_NDIVE 1.0

KALMAN_USE 2 C_ROLL_DIVE 2200 ALTIM_TOP_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

HD_A 0.0031999999 C_ROLL_CLIMB 2100 ALTIM_TOP_MIN_OBSTACLE 1 PM_PROFILE 3.0

HD_B 0.0103 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 PM_XMITPROFILE 0.0

HD_C 1.06e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 PM_NDIVE 1.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 36 ALTIM_SENSITIVITY 2 PM_SENDDEPTH 0.0

AD7714Ch0Gain 1 D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_C_I -0.0017082796

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 1 SEABIRD_C_J 0.00021409935

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.02 SEABIRD_T_G 0.0043055275

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SEABIRD_T_H 0.00061896152

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 480 PITCH_CNV 0.003125763 SEABIRD_T_I 2.1649632e-05

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_J 2.1628491e-06

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 38 SIM_PITCH 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3950 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SM_CC 702.78448

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 208 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 20 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00069999998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 SURFACE_URGENCY 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 HD_A 0.0031999999 PM_MOTORS 0.0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_B 0.0103 PM_NDIVE 1.0 TCM_PITCH_OFFSET 0

CALL_WAIT 60 HD_C 1.06e-05 PM_PROFILE 3.0 TCM_ROLL_OFFSET 0

CAPMAXSIZE 100000 HEADING -1 PM_RECORDABOVE 2000.0 TGT_AUTO_DEFAULT 0

CAPUPLOAD 0 HEAD_ERRBAND 10 PM_SENDDEPTH 0.0 TGT_DEFAULT_LAT 7100

CF8_MAXERRORS 20 HEAPDBG 0 PM_XMITPROFILE 0.0 TGT_DEFAULT_LON -14430

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.050000001 PM_XMITRAW 0.0 T_ABORT 1440

COMPASS2_DEVICE 150 ID 196 PRESSURE_SLOPE 0.00010687162 T_BOOST 4

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -162.29706 T_DIVE 160

COMPASS_USE 4 INT_PRESSURE_YINT 0.75 PROTOCOL 9 T_EPIRB 0

COURSE_BIAS 0 KALMAN_USE 2 P_OVSHOOT 0.039999999 T_GPS 5

CP_NDIVE 1.0 LOGGERDEVICE1 54 P_OVSHOOT_WITHG 0 T_LOITER 0

CP_PROFILE 3.0 LOGGERDEVICE2 135 RAFOS_CORR_THRESH 60 T_MISSION 195

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 83 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 1063.0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

CP_UPLOADMAX 100000.0 LOGGERS 7 RAFOS_MMODEM 0 T_TURN 225

CP_XMITPROFILE 0.0 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_PITCH 2580 LOITER_D_NO_PUMP 0 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 LOITER_W_DBAND 0 RHO 1.028 UNCOM_BLEED 20

C_ROLL_DIVE 2200 MASS 55566 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

C_VBD 3365 MASS_COMP 0 ROLL_ADJ_GAIN 0 USE_BATHY 0

DBDW 0 MAXI_10V 1.4 ROLL_AD_RATE 350 USE_ICE 0

DEEPGLIDER 0 MAXI_24V 0.60000002 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAX_BUOY 150 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE2 -1 MINV_10V 11 ROLL_MAX 3787 VBD_DBAND 2

DEVICE3 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE4 -1 MISSION 14 ROLL_MIN 218 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 R_PORT_OVSHOOT 25 VBD_MIN 500

DIVE 383 NOCOMM_ACTION 161 R_STBD_OVSHOOT 36 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 650 N_DIVES 0 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_BOOST 100 N_FILEKB 8 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_CALL 0 N_GPS 100440 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_C_G -9.8804169 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 49 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 200917,045412,7429.5317,-15306.0889,16,0.7,18,19.6,0.0,0.0,11,9.4 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15347.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.26 MHEAD_RNG_PITCHd_Wd 206.7,29552,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.6 D_GRID 480

GPS2 200917,050301,7429.5791,-15306.0361,5,0.8,41,19.6,0.4,344.7,10,5.8

Post-dive calculations and measurements:

FINISH 0.5,1.021086 _24V_AH 12.30,228.401

SM_CCo 9123,23.00,0.207,0,0,497,702.78 _10V_AH 12.16,0.000

SM_GC 1.14,8.30,2.70,23.00,0.084,0.068,0.207,202,2212,497,-7.38,-0.45,702.78,0,0,0,0,0,0,14.25,14.17,13.91 FG_AHR_24Vo 0.000

RAFOS_CLK 414 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323332

IRIDIUM_FIX 7430.15,-15308.10,200917,045739 DATA_FILE_SIZE 26706,721

TT8_MAMPS 0.038948,0.910035 CAP_FILE_SIZE 98366,0

HUMID 48.07 CFSIZE 2097872896,1979940864

INTERNAL_PRESSURE 7.76199 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.40 SOUNDSPEED 1448.9

XPDR_PINGS 8 CURRENT 0.035,47.23,1

CP_FREE 15905980416.000000 GPS 200917,073700,7428.937,-15309.623,15,0.7,17,19.6,0.3,85.3,11,8.6

PM_FREEKB_00 45348608

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 449 145.65 nil 0 0 0.00

Roll_motor 80 2161 2135.28 nil 0 0 0.00

VBD_pump_during_apogee 983 1473 17830.02 nil 0 0 0.00

VBD_pump_during_surface 23 207 58.65 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 9047 14 1621.77

Iridium_during_xfer 220 136 369.27 NCP 9102 20 2239.09

Transponder_ping 2 420 10.33 PMAR 9077 9 1100.95

GUMSTIX_24V 0 0 0.00

GPS 42 22 11.64

TT8 0 0 0.00

LPSleep 6644 2 186.64

TT8_Active 898 13 152.71

TT8_Sampling 1856 33 754.93

TT8_CF8 281 38 132.22

TT8_Kalman 0 0 0.00

Analog_circuits 1929 10 234.63

GPS_charging 0 0 0.00

Compass 1039 7 88.52

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

49 end surface: CONTROL_FINISHED_OK

state 49 begin dive

52 -0.57 -145.9 197 2226 500 490 0.0 0.0 0 146 0.00 0.00 -91.60 0.000 16386 0.000 0.000 195 2226 2236 2179 2293 0 0 0 0 0 0 14.51 28.83 14.55

149 -0.57 -145.9 196 2227 2182 2294 4.8 -7.4 9 197 12.73 2.67 -30.38 0.000 18724 0.450 2.162 2375 3597 3961 3941 3982 0 0 0 0 0 0 13.53 13.04 13.97

245 -0.73 -145.9 2376 3597 3948 3982 33.4 -13.9 27 250 0.10 2.42 0.00 0.000 5254 0.145 0.062 2341 2196 3964 3947 3982 0 0 0 0 0 0 14.03 13.98 14.12

555 -0.78 -145.9 2341 2196 3951 3982 84.2 -13.4 59 556 0.00 0.00 0.00 0.000 134 0.000 0.000 2340 2196 3965 3949 3982 0 0 0 0 0 0 14.57 14.59 14.58

866 -0.89 -145.9 2341 2197 3951 3983 118.5 -10.0 78 871 0.12 2.53 0.00 0.000 4516 0.141 0.085 2268 3598 3966 3950 3982 0 0 0 0 0 0 14.24 14.04 14.28

936 -0.98 -145.9 2267 3601 3951 3983 127.7 -12.5 92 942 0.00 2.40 0.00 0.000 1158 0.000 0.057 2267 2192 3966 3950 3982 0 0 0 0 0 0 14.26 14.12 14.30

1258 -0.98 -145.9 2268 2192 3950 3983 176.3 -14.6 106 1258 0.00 0.00 0.00 0.000 6 0.000 0.000 2268 2190 3966 3950 3982 0 0 0 0 0 0 14.58 14.59 14.59

1558 -1.01 -145.9 2269 2191 3951 3983 216.8 -13.0 116 1563 0.00 2.50 0.00 0.000 388 0.000 0.084 2260 3597 3965 3950 3981 0 0 0 0 0 0 14.59 14.02 14.61

1639 -1.13 -145.9 2261 3598 3951 3982 226.4 -11.3 132 1645 0.15 2.42 0.00 0.000 5254 0.120 0.057 2201 2189 3966 3950 3982 0 0 0 0 0 0 14.13 14.08 14.23

1951 -1.05 -145.9 2202 2188 3952 3982 281.2 -17.1 144 1957 0.15 2.50 0.00 0.000 2436 0.293 0.080 2225 3595 3966 3950 3982 0 0 0 0 0 0 13.75 13.94 13.92

2008 -1.12 -145.9 2225 3593 3956 3983 289.1 -12.4 155 2014 0.00 2.40 0.00 0.000 1158 0.000 0.056 2225 2196 3967 3952 3982 0 0 0 0 0 0 14.15 14.02 14.20

2313 -1.12 -145.9 2225 2195 3951 3981 328.7 -12.8 166 2318 0.00 2.53 0.00 0.000 260 0.000 0.086 2222 3597 3966 3951 3982 0 0 0 0 0 0 14.62 13.94 14.66

2369 -1.20 -145.9 2223 3597 3951 3982 335.3 -11.3 177 2375 0.00 2.40 0.00 0.000 1158 0.000 0.056 2223 2198 3965 3950 3981 0 0 0 0 0 0 14.15 14.02 14.19

2673 -1.20 -145.9 2223 2196 3951 3982 372.5 -12.1 188 2679 0.00 2.53 0.00 0.000 260 0.000 0.086 2222 3594 3965 3950 3981 0 0 0 0 0 0 14.63 13.94 14.63

2720 -1.29 -145.9 2223 3595 3950 3982 377.9 -11.2 197 2726 0.20 2.40 0.00 0.000 5254 0.104 0.056 2149 2195 3965 3949 3982 0 0 0 0 0 0 14.15 14.08 14.27

3036 -1.17 -145.9 2149 2197 3949 3982 435.7 -18.7 210 3041 0.22 2.50 0.00 0.000 2436 0.309 0.081 2188 3597 3964 3948 3981 0 0 0 0 0 0 13.59 13.97 13.81

3149 -1.19 -145.9 2188 3599 3948 3982 451.6 -13.1 232 3155 0.00 2.38 0.00 0.000 1158 0.000 0.056 2188 2201 3964 3947 3981 0 0 0 0 0 0 14.21 14.08 14.26

3367 end dive: TARGET_DEPTH_EXCEEDED

state 3367 begin apogee

3374 -0.13 0.0 2189 2059 3949 3982 483.4 -14.3 241 3595 1.38 0.00 216.88 1.419 10246 0.244 0.000 2527 2058 3364 3374 3354 0 0 0 0 0 0 13.66 13.56 12.75

3599 end apogee: CONTROL_FINISHED_OK

state 3599 begin climb

3602 0.57 145.9 2529 2058 3371 3348 495.2 0.0 248 3818 0.75 2.75 209.88 1.374 11012 0.060 0.073 2786 3494 2763 2796 2730 0 0 0 0 0 0 13.74 12.92 12.30

3956 0.07 145.9 2786 3494 2781 2728 487.9 16.4 323 3961 0.93 2.40 0.00 0.000 5254 0.348 0.054 2612 2130 2754 2780 2728 0 0 0 0 0 0 13.27 13.67 13.66

4272 -0.02 191.7 2612 2131 2781 2727 461.1 7.9 336 4338 0.15 0.00 64.50 1.408 12454 0.285 0.000 2581 2130 2584 2630 2539 0 0 0 0 0 0 13.79 13.88 13.06

4632 0.01 235.0 2582 2131 2625 2520 433.1 8.0 348 4702 0.00 2.62 62.88 1.396 8740 0.000 0.090 2588 695 2402 2451 2353 0 0 0 0 0 0 14.56 13.95 13.10

4768 0.10 269.4 2588 696 2446 2351 421.8 8.4 375 4824 0.00 2.45 51.10 1.392 9382 0.000 0.080 2588 2086 2266 2316 2217 0 0 0 0 0 0 14.21 14.07 13.05

5145 0.17 294.5 2589 2086 2309 2199 388.4 8.8 400 5183 0.15 0.00 35.45 1.419 10406 0.116 0.000 2658 2086 2164 2210 2119 0 0 0 0 0 0 14.28 14.03 13.20

5475 0.09 294.5 2659 2086 2202 2107 344.0 13.6 411 5480 0.15 2.45 0.00 0.000 4740 0.251 0.084 2628 694 2154 2202 2107 0 0 0 0 0 0 13.96 14.14 14.11

5531 0.14 294.5 2628 694 2198 2108 337.6 10.5 422 5537 0.00 2.47 0.00 0.000 1158 0.000 0.079 2627 2103 2152 2198 2107 0 0 0 0 0 0 14.14 14.12 14.14

5836 0.14 294.5 2626 2105 2200 2106 304.5 10.7 433 5837 0.00 0.00 0.00 0.000 6 0.000 0.000 2628 2104 2151 2197 2105 0 0 0 0 0 0 14.64 14.66 14.65

6136 0.14 294.5 2631 2104 2198 2104 273.5 10.1 443 6141 0.00 2.50 0.00 0.000 516 0.000 0.087 2630 689 2151 2197 2105 0 0 0 0 0 0 14.63 14.09 14.65

6221 0.21 321.8 2630 690 2196 2106 265.4 8.7 460 6272 0.00 2.50 42.35 1.368 9382 0.000 0.078 2630 2106 2046 2089 2003 0 0 0 0 0 0 14.24 14.09 13.21

6590 0.28 357.1 2631 2110 2085 2000 233.0 8.4 483 6654 0.12 2.53 58.33 1.304 10916 0.122 0.087 2690 692 1904 1935 1874 0 0 0 0 0 0 14.26 13.78 13.19

6675 0.24 357.1 2691 693 1929 1873 223.2 12.2 490 6681 0.15 2.50 0.00 0.000 5254 0.222 0.077 2654 2109 1898 1923 1873 0 0 0 0 0 0 13.86 13.99 14.06

6980 0.28 368.6 2658 2107 1927 1865 193.7 9.5 501 6999 0.00 0.00 15.10 1.473 8870 0.000 0.000 2657 2109 1860 1886 1834 0 0 0 0 0 0 14.58 13.88 13.27

7310 0.36 402.0 2658 2108 1881 1825 164.4 8.5 517 7376 0.12 2.58 56.83 1.285 10916 0.122 0.088 2722 697 1721 1738 1704 0 0 0 0 0 0 14.31 14.02 13.22

7394 0.32 402.0 2726 693 1731 1713 154.8 12.1 533 7400 0.15 2.47 0.00 0.000 5254 0.226 0.077 2691 2100 1719 1735 1703 0 0 0 0 0 0 13.85 13.97 14.07

7706 0.35 404.6 2692 2101 1736 1695 122.8 9.9 545 7712 0.00 2.50 0.00 0.000 676 0.000 0.090 2691 694 1714 1734 1694 0 0 0 0 0 0 14.57 14.09 14.60

7782 0.45 428.7 2691 695 1733 1696 115.7 8.9 560 7828 0.00 2.47 40.10 1.268 9382 0.000 0.078 2692 2105 1617 1641 1593 0 0 0 0 0 0 14.28 14.14 13.26

8128 0.55 471.3 2691 2105 1636 1580 85.5 8.0 589 8159 0.17 0.00 22.98 0.454 10918 0.103 0.000 2771 2107 1445 1472 1418 0 0 0 0 0 0 14.20 14.07 13.64

8458 0.54 496.3 2773 2105 1473 1407 46.8 8.8 624 8479 0.00 2.58 14.00 0.339 8868 0.000 0.088 2780 698 1339 1379 1299 0 0 0 0 0 0 14.57 14.01 13.66

8582 0.60 541.6 2780 698 1381 1300 36.8 7.9 648 8615 0.00 2.47 25.80 0.306 9382 0.000 0.079 2786 2098 1155 1208 1102 0 0 0 0 0 0 14.21 14.07 13.76

8910 0.76 663.1 2781 2100 1208 1097 16.0 4.4 684 8986 0.12 2.60 67.70 0.245 10916 0.130 0.090 2849 687 658 707 610 0 0 0 0 0 0 14.20 13.96 13.84

9078 end climb: SURFACE_DEPTH_REACHED

state 9078 begin surface coast

9099 end surface coast: CONTROL_FINISHED_OK

state 9099 begin surface

ID	196	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	350	XPDR_VALID	2
MISSION	14	TGT_DEFAULT_LAT	7100	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
DIVE	383	TGT_DEFAULT_LON	-14430	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.75
STOP_T	0	SM_CC	702.78448	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	4
D_FLARE	3	FILEMGR	0	C_VBD	3365	DEVICE1	-1
D_TGT	480	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_ABORT	650	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE3	-1
D_NO_BLEED	50	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_BOOST	100	N_NOCOMM	1	VBD_TIMEOUT	720	DEVICE5	-1
T_BOOST	4	NOCOMM_ACTION	161	PITCH_VBD_SHIFT	0.00069999998	DEVICE6	-1
D_FINISH	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_SURFACE	1	LOGGERS	7
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERDEVICE1	54
D_SAFE	0	CALL_TRIES	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	135
D_CALL	0	CALL_WAIT	60	UNCOM_BLEED	20	LOGGERDEVICE3	83
SURFACE_URGENCY	0	CAPUPLOAD	0	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	0	COMPASS_DEVICE	97
SURFACE_URGENCY_FORCE	0	HEAPDBG	0	DBDW	0	COMPASS2_DEVICE	150
T_DIVE	160	T_GPS	5	LOITER_W_DBAND	0	PHONE_DEVICE	49
T_MISSION	195	N_GPS	100440	LOITER_DBDW	0	GPS_DEVICE	32
T_ABORT	1440	T_RSLEEP	3	LOITER_D_NO_PUMP	0	RAFOS_DEVICE	1125
T_TURN	225	STROBE	0	PITCH_W_GAIN	0	XPDR_DEVICE	24
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	PITCH_W_DBAND	0	SIM_W	0
T_NO_W	120	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	SIM_PITCH	0
T_LOITER	0	RAFOS_HIT_WINDOW	3600	AH0_24V	350	SEABIRD_T_G	0.0043055275
T_EPIRB	0	RAFOS_MMODEM	0	AH0_10V	0	SEABIRD_T_H	0.00061896152
USE_BATHY	0	PITCH_MIN	208	MINV_24V	11	SEABIRD_T_I	2.1649632e-05
USE_ICE	0	PITCH_MAX	3950	MINV_10V	11	SEABIRD_T_J	2.1628491e-06
ICE_FREEZE_MARGIN	0.050000001	C_PITCH	2580	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8804169
D_OFFGRID	1000	PITCH_DBAND	0.1	MAXI_10V	1.4	SEABIRD_C_H	1.1388741
T_WATCHDOG	10	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_C_I	-0.0017082796
RELAUNCH	1	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_J	0.00021409935
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
MAX_BUOY	150	PITCH_GAIN	38	PRESSURE_YINT	-162.29706	SC_PROFILE	3.0
COURSE_BIAS	0	PITCH_TIMEOUT	20	PRESSURE_SLOPE	0.00010687162	SC_XMITPROFILE	3.0
GLIDE_SLOPE	30	PITCH_AD_RATE	160	AD7714Ch0Gain	1	SC_NDIVE	1.0
SPEED_FACTOR	1	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	CP_RECORDABOVE	1000.0
RHO	1.028	PITCH_ADJ_GAIN	0.02	TCM_ROLL_OFFSET	0	CP_PROFILE	3.0
MASS	55566	PITCH_ADJ_DBAND	1	COMPASS_USE	4	CP_XMITPROFILE	0.0
MASS_COMP	0	ROLL_MIN	218	ALTIM_BOTTOM_PING_RANGE	0	CP_UPLOADMAX	100000.0
NAV_MODE	2	ROLL_MAX	3787	ALTIM_TOP_PING_RANGE	0	CP_STARTS	1063.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	CP_NDIVE	1.0
KALMAN_USE	2	C_ROLL_DIVE	2200	ALTIM_TOP_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
HD_A	0.0031999999	C_ROLL_CLIMB	2100	ALTIM_TOP_MIN_OBSTACLE	1	PM_PROFILE	3.0
HD_B	0.0103	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	PM_XMITPROFILE	0.0
HD_C	1.06e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	PM_NDIVE	1.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	36	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	200917,045412,7429.5317,-15306.0889,16,0.7,18,19.6,0.0,0.0,11,9.4	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15347.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.26	MHEAD_RNG_PITCHd_Wd	206.7,29552,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.6	D_GRID	480
GPS2	200917,050301,7429.5791,-15306.0361,5,0.8,41,19.6,0.4,344.7,10,5.8

FINISH	0.5,1.021086	_24V_AH	12.30,228.401
SM_CCo	9123,23.00,0.207,0,0,497,702.78	_10V_AH	12.16,0.000
SM_GC	1.14,8.30,2.70,23.00,0.084,0.068,0.207,202,2212,497,-7.38,-0.45,702.78,0,0,0,0,0,0,14.25,14.17,13.91	FG_AHR_24Vo	0.000
RAFOS_CLK	414	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323332
IRIDIUM_FIX	7430.15,-15308.10,200917,045739	DATA_FILE_SIZE	26706,721
TT8_MAMPS	0.038948,0.910035	CAP_FILE_SIZE	98366,0
HUMID	48.07	CFSIZE	2097872896,1979940864
INTERNAL_PRESSURE	7.76199	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.40	SOUNDSPEED	1448.9
XPDR_PINGS	8	CURRENT	0.035,47.23,1
CP_FREE	15905980416.000000	GPS	200917,073700,7428.937,-15309.623,15,0.7,17,19.6,0.3,85.3,11,8.6
PM_FREEKB_00	45348608

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	449	145.65	nil	0	0	0.00
Roll_motor	80	2161	2135.28	nil	0	0	0.00
VBD_pump_during_apogee	983	1473	17830.02	nil	0	0	0.00
VBD_pump_during_surface	23	207	58.65	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	9047	14	1621.77
Iridium_during_xfer	220	136	369.27	NCP	9102	20	2239.09
Transponder_ping	2	420	10.33	PMAR	9077	9	1100.95
GUMSTIX_24V	0	0	0.00
GPS	42	22	11.64
TT8	0	0	0.00
LPSleep	6644	2	186.64
TT8_Active	898	13	152.71
TT8_Sampling	1856	33	754.93
TT8_CF8	281	38	132.22
TT8_Kalman	0	0	0.00
Analog_circuits	1929	10	234.63
GPS_charging	0	0	0.00
Compass	1039	7	88.52
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
49	end surface: CONTROL_FINISHED_OK
state	49	begin dive
52	-0.57	-145.9	197	2226	500	490	0.0	0.0	0	146	0.00	0.00	-91.60	0.000	16386	0.000	0.000	195	2226	2236	2179	2293	0	0	0	0	0	0	14.51	28.83	14.55
149	-0.57	-145.9	196	2227	2182	2294	4.8	-7.4	9	197	12.73	2.67	-30.38	0.000	18724	0.450	2.162	2375	3597	3961	3941	3982	0	0	0	0	0	0	13.53	13.04	13.97
245	-0.73	-145.9	2376	3597	3948	3982	33.4	-13.9	27	250	0.10	2.42	0.00	0.000	5254	0.145	0.062	2341	2196	3964	3947	3982	0	0	0	0	0	0	14.03	13.98	14.12
555	-0.78	-145.9	2341	2196	3951	3982	84.2	-13.4	59	556	0.00	0.00	0.00	0.000	134	0.000	0.000	2340	2196	3965	3949	3982	0	0	0	0	0	0	14.57	14.59	14.58
866	-0.89	-145.9	2341	2197	3951	3983	118.5	-10.0	78	871	0.12	2.53	0.00	0.000	4516	0.141	0.085	2268	3598	3966	3950	3982	0	0	0	0	0	0	14.24	14.04	14.28
936	-0.98	-145.9	2267	3601	3951	3983	127.7	-12.5	92	942	0.00	2.40	0.00	0.000	1158	0.000	0.057	2267	2192	3966	3950	3982	0	0	0	0	0	0	14.26	14.12	14.30
1258	-0.98	-145.9	2268	2192	3950	3983	176.3	-14.6	106	1258	0.00	0.00	0.00	0.000	6	0.000	0.000	2268	2190	3966	3950	3982	0	0	0	0	0	0	14.58	14.59	14.59
1558	-1.01	-145.9	2269	2191	3951	3983	216.8	-13.0	116	1563	0.00	2.50	0.00	0.000	388	0.000	0.084	2260	3597	3965	3950	3981	0	0	0	0	0	0	14.59	14.02	14.61
1639	-1.13	-145.9	2261	3598	3951	3982	226.4	-11.3	132	1645	0.15	2.42	0.00	0.000	5254	0.120	0.057	2201	2189	3966	3950	3982	0	0	0	0	0	0	14.13	14.08	14.23
1951	-1.05	-145.9	2202	2188	3952	3982	281.2	-17.1	144	1957	0.15	2.50	0.00	0.000	2436	0.293	0.080	2225	3595	3966	3950	3982	0	0	0	0	0	0	13.75	13.94	13.92
2008	-1.12	-145.9	2225	3593	3956	3983	289.1	-12.4	155	2014	0.00	2.40	0.00	0.000	1158	0.000	0.056	2225	2196	3967	3952	3982	0	0	0	0	0	0	14.15	14.02	14.20
2313	-1.12	-145.9	2225	2195	3951	3981	328.7	-12.8	166	2318	0.00	2.53	0.00	0.000	260	0.000	0.086	2222	3597	3966	3951	3982	0	0	0	0	0	0	14.62	13.94	14.66
2369	-1.20	-145.9	2223	3597	3951	3982	335.3	-11.3	177	2375	0.00	2.40	0.00	0.000	1158	0.000	0.056	2223	2198	3965	3950	3981	0	0	0	0	0	0	14.15	14.02	14.19
2673	-1.20	-145.9	2223	2196	3951	3982	372.5	-12.1	188	2679	0.00	2.53	0.00	0.000	260	0.000	0.086	2222	3594	3965	3950	3981	0	0	0	0	0	0	14.63	13.94	14.63
2720	-1.29	-145.9	2223	3595	3950	3982	377.9	-11.2	197	2726	0.20	2.40	0.00	0.000	5254	0.104	0.056	2149	2195	3965	3949	3982	0	0	0	0	0	0	14.15	14.08	14.27
3036	-1.17	-145.9	2149	2197	3949	3982	435.7	-18.7	210	3041	0.22	2.50	0.00	0.000	2436	0.309	0.081	2188	3597	3964	3948	3981	0	0	0	0	0	0	13.59	13.97	13.81
3149	-1.19	-145.9	2188	3599	3948	3982	451.6	-13.1	232	3155	0.00	2.38	0.00	0.000	1158	0.000	0.056	2188	2201	3964	3947	3981	0	0	0	0	0	0	14.21	14.08	14.26
3367	end dive: TARGET_DEPTH_EXCEEDED
state	3367	begin apogee
3374	-0.13	0.0	2189	2059	3949	3982	483.4	-14.3	241	3595	1.38	0.00	216.88	1.419	10246	0.244	0.000	2527	2058	3364	3374	3354	0	0	0	0	0	0	13.66	13.56	12.75
3599	end apogee: CONTROL_FINISHED_OK
state	3599	begin climb
3602	0.57	145.9	2529	2058	3371	3348	495.2	0.0	248	3818	0.75	2.75	209.88	1.374	11012	0.060	0.073	2786	3494	2763	2796	2730	0	0	0	0	0	0	13.74	12.92	12.30
3956	0.07	145.9	2786	3494	2781	2728	487.9	16.4	323	3961	0.93	2.40	0.00	0.000	5254	0.348	0.054	2612	2130	2754	2780	2728	0	0	0	0	0	0	13.27	13.67	13.66
4272	-0.02	191.7	2612	2131	2781	2727	461.1	7.9	336	4338	0.15	0.00	64.50	1.408	12454	0.285	0.000	2581	2130	2584	2630	2539	0	0	0	0	0	0	13.79	13.88	13.06
4632	0.01	235.0	2582	2131	2625	2520	433.1	8.0	348	4702	0.00	2.62	62.88	1.396	8740	0.000	0.090	2588	695	2402	2451	2353	0	0	0	0	0	0	14.56	13.95	13.10
4768	0.10	269.4	2588	696	2446	2351	421.8	8.4	375	4824	0.00	2.45	51.10	1.392	9382	0.000	0.080	2588	2086	2266	2316	2217	0	0	0	0	0	0	14.21	14.07	13.05
5145	0.17	294.5	2589	2086	2309	2199	388.4	8.8	400	5183	0.15	0.00	35.45	1.419	10406	0.116	0.000	2658	2086	2164	2210	2119	0	0	0	0	0	0	14.28	14.03	13.20
5475	0.09	294.5	2659	2086	2202	2107	344.0	13.6	411	5480	0.15	2.45	0.00	0.000	4740	0.251	0.084	2628	694	2154	2202	2107	0	0	0	0	0	0	13.96	14.14	14.11
5531	0.14	294.5	2628	694	2198	2108	337.6	10.5	422	5537	0.00	2.47	0.00	0.000	1158	0.000	0.079	2627	2103	2152	2198	2107	0	0	0	0	0	0	14.14	14.12	14.14
5836	0.14	294.5	2626	2105	2200	2106	304.5	10.7	433	5837	0.00	0.00	0.00	0.000	6	0.000	0.000	2628	2104	2151	2197	2105	0	0	0	0	0	0	14.64	14.66	14.65
6136	0.14	294.5	2631	2104	2198	2104	273.5	10.1	443	6141	0.00	2.50	0.00	0.000	516	0.000	0.087	2630	689	2151	2197	2105	0	0	0	0	0	0	14.63	14.09	14.65
6221	0.21	321.8	2630	690	2196	2106	265.4	8.7	460	6272	0.00	2.50	42.35	1.368	9382	0.000	0.078	2630	2106	2046	2089	2003	0	0	0	0	0	0	14.24	14.09	13.21
6590	0.28	357.1	2631	2110	2085	2000	233.0	8.4	483	6654	0.12	2.53	58.33	1.304	10916	0.122	0.087	2690	692	1904	1935	1874	0	0	0	0	0	0	14.26	13.78	13.19
6675	0.24	357.1	2691	693	1929	1873	223.2	12.2	490	6681	0.15	2.50	0.00	0.000	5254	0.222	0.077	2654	2109	1898	1923	1873	0	0	0	0	0	0	13.86	13.99	14.06
6980	0.28	368.6	2658	2107	1927	1865	193.7	9.5	501	6999	0.00	0.00	15.10	1.473	8870	0.000	0.000	2657	2109	1860	1886	1834	0	0	0	0	0	0	14.58	13.88	13.27
7310	0.36	402.0	2658	2108	1881	1825	164.4	8.5	517	7376	0.12	2.58	56.83	1.285	10916	0.122	0.088	2722	697	1721	1738	1704	0	0	0	0	0	0	14.31	14.02	13.22
7394	0.32	402.0	2726	693	1731	1713	154.8	12.1	533	7400	0.15	2.47	0.00	0.000	5254	0.226	0.077	2691	2100	1719	1735	1703	0	0	0	0	0	0	13.85	13.97	14.07
7706	0.35	404.6	2692	2101	1736	1695	122.8	9.9	545	7712	0.00	2.50	0.00	0.000	676	0.000	0.090	2691	694	1714	1734	1694	0	0	0	0	0	0	14.57	14.09	14.60
7782	0.45	428.7	2691	695	1733	1696	115.7	8.9	560	7828	0.00	2.47	40.10	1.268	9382	0.000	0.078	2692	2105	1617	1641	1593	0	0	0	0	0	0	14.28	14.14	13.26
8128	0.55	471.3	2691	2105	1636	1580	85.5	8.0	589	8159	0.17	0.00	22.98	0.454	10918	0.103	0.000	2771	2107	1445	1472	1418	0	0	0	0	0	0	14.20	14.07	13.64
8458	0.54	496.3	2773	2105	1473	1407	46.8	8.8	624	8479	0.00	2.58	14.00	0.339	8868	0.000	0.088	2780	698	1339	1379	1299	0	0	0	0	0	0	14.57	14.01	13.66
8582	0.60	541.6	2780	698	1381	1300	36.8	7.9	648	8615	0.00	2.47	25.80	0.306	9382	0.000	0.079	2786	2098	1155	1208	1102	0	0	0	0	0	0	14.21	14.07	13.76
8910	0.76	663.1	2781	2100	1208	1097	16.0	4.4	684	8986	0.12	2.60	67.70	0.245	10916	0.130	0.090	2849	687	658	707	610	0	0	0	0	0	0	14.20	13.96	13.84
9078	end climb: SURFACE_DEPTH_REACHED
state	9078	begin surface coast
9099	end surface coast: CONTROL_FINISHED_OK
state	9099	begin surface